计算机技术与发展2018，Vol.28Issue(1)：182-187,6.DOI:10.3969/j.issn.1673-629X.2018.01.039
加入不确定扰动的无人机飞行轨迹跟踪控制
Flight Trajectory Tracking Control Algorithm for Unmanned Aerial Vehicle with Uncertain Disturbance
摘要
Abstract
There is flight trajectory deviation for Unmanned Aerial Vehicle ( UAV) in the uncertain air flow disturbance of which the re-sistance and the robustness are improved by the flight trajectory tracking control. In traditional methods,the self tuning performance of the flight parameters is influenced by the error drift of the disturbed air flow,with poor control performance. Therefore,an adaptive fusion tracking error compensation method based on multi sensor information is proposed to control the flight trajectory tracking of UAV under uncertain disturbance. For the control object of UAV flight trajectory tracking,a UAV flight dynamics model is constructed in adding un-certain flow,with a continuous delay non smooth system of UAV motion exercise balance decomposition,adaptive fusion tracking error compensation of multi sensor information,adaptive parameter estimation of all quantitative information of multi-sensor array pose param-eters for UAV flight trajectory. Using feedback control, the adaptive trajectory tracking control algorithm is improved. The simulation shows that the control algorithm owns higher precision and better quality in UAV flight trajectory tracking control,and the prediction error of flight trajectory converges to zero,improving the stability and anti disturbance of flight.关键词
不确定扰动/气流/无人机/飞行轨迹/跟踪/控制Key words
uncertain disturbance/air flow/UAV/flight trajectory/tracking/control分类
信息技术与安全科学引用本文复制引用
张晓军,陆兴华..加入不确定扰动的无人机飞行轨迹跟踪控制[J].计算机技术与发展,2018,28(1):182-187,6.基金项目
2015年广东省教育重点平台及科研项目青年创新人才类项目(自然科学类)(2015KQNCX218) （自然科学类）
2015年广东省教育重点平台及科研项目特色创新类项目(教育科研类)(2015GXJK185) （教育科研类）
2012广东省质量工程项目(粤教高函[2012]204号) （粤教高函[2012]204号）
